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Its absolutely not Normal... but it is common. It is easily fixed by a Tesla service center under warranty, by replacing the ground strap.

Have them check the ground strap, common issue in model 3s, perhaps S too. They just need to loosen it and tighten it again and then the noise is gone.

This noise is NOT within spec, if its so loud that its noticeably annoying, its a ground strap issue and needs to be replaced, fixed under warranty. You will notice a night and day difference, and driving will be a pleasure again! The service centers are aware of it and shouldn't be telling you...